Moving robot and control method thereof

Abstract

A mobile robot is configured to move a main body and rotate a cleaning cloth by means of a motor to clean a surface. A location change of the main body is analyzed to determine a traveling state of the robot. The absence of the cleaning cloth is detected and the operation of the robot is controlled based on the detected travelling state. A user is notified about the absence of the cleaning cloth.

What is claimed is: 
     
       1. A mobile robot, comprising:
 a main body configured to travel on a surface; 
 a spin mop including a first rotary plate and a second rotary plate, wherein a first cleaning cloth is installed on the first rotary plate and a second cleaning cloth is installed on the second rotary plate; and 
 a controller configured to (a) determine a traveling state of the mobile robot by calculating a location change of the main body during traveling, (b) determine whether the first rotary plate or the second rotary plate has a corresponding cleaning cloth installed thereon based on the determined traveling state, and (c) output a warning if it is determined that a cleaning cloth is not installed on the first rotary plate or the second rotary plate. 
 
     
     
       2. The mobile robot of  claim 1 , wherein the controller is configured to determine that a cleaning cloth is not installed on the first rotary plate or the second rotary plate when there is no location change of the main body for a predetermined period of time. 
     
     
       3. The mobile robot of  claim 1 , wherein the controller is configured to determine that a cleaning cloth is not installed on the first rotary plate or the second rotary plate when a rotation angle of the mobile robot changes within a predetermined range while moving for a predetermined period of time. 
     
     
       4. The mobile robot of  claim 3 , wherein the controller is configured to:
 determine that the second cleaning cloth is not installed on the second rotary plate when the main body rotates in a first direction by a rotation angle, and 
 determine that the first cleaning cloth is not installed at the first rotary plate when the main body rotates in a second direction by a rotation angle, wherein the second direction is opposite the first direction. 
 
     
     
       5. The mobile robot of  claim 1 , wherein the controller is configured to:
 determine the location change of the main body by calculating coordinates based on a traveling distance on X axis and Y axis from a start point and a rotation angle, and 
 determine that the main body is traveling normally when the determined location change falls within an error range. 
 
     
     
       6. The mobile robot of  claim 5 , wherein the controller is configured to:
 determine that there is an abnormality in the travel of the main body when the determined location change and a rotation angle of the mobile robot is repeated according to a predetermined pattern. 
 
     
     
       7. The mobile robot of  claim 6 , wherein the controller is configured to:
 reattempt to travel after waiting for a predetermined period of time when it is determined that there is an abnormality in the travel of the main body; and 
 determine that a temporary error has occurred when the main body travels normally after the reattempt to travel. 
 
     
     
       8. The mobile robot of  claim 1 , wherein the controller is configured to:
 stop the travel of the main body when it is determined that a cleaning cloth is not installed on the first rotary plate or the second rotary plate. 
 
     
     
       9. The mobile robot of  claim 1 , further comprising an obstacle detector configured to detect an obstacle in a direction of travel of the mobile robot,
 wherein the controller is configured to determine whether the traveling state of the main body is abnormal due to any obstacle based on a detection result of the obstacle detector. 
 
     
     
       10. The mobile robot of  claim 1 , wherein the cleaner comprises:
 at least one motor configured to rotate the spin mop; 
 a driving unit configured to control the motor such that the first and second rotary plates are rotated independently; and 
 a water supply unit configured to supply water to at least one of the first cleaning cloth or the second cleaning cloth. 
 
     
     
       11. The mobile robot of  claim 10 , wherein the controller is configured to detect a current of the motor and determine a traveling state of the mobile robot for no load or restraint based on the detected current of the motor. 
     
     
       12. The mobile robot of  claim 10 , wherein the driving unit is configured to stop operation of the motor and stop water supply to at least one of the first cleaning cloth or the second cleaning cloth when it is determined that a cleaning cloth is not installed on the first rotary plate or the second rotary plate. 
     
     
       13. A method of controlling a mobile robot, the method comprising:
 spinning a spin mop of the mobile robot, wherein the spin mop comprises a first rotary plate with a first cleaning cloth installed thereon and a second rotary plate with a second cleaning cloth installed thereon; 
 moving a main body of the mobile robot on a surface in response to the spinning of the spin mop, wherein the first cleaning cloth and the second cleaning cloth removes foreign substances from the surface during the moving; calculating a location of the main body; 
 determining, via a controller of the mobile robot, a traveling state of the main body based on a change in the location of the main body; 
 determining, via the controller, whether the first rotary plate or the second rotary plate has a corresponding cleaning cloth installed thereon when there is an abnormality in the moving of the main body; and 
 outputting, via the controller, a warning when it is determined that a cleaning cloth is not installed on the first rotary plate or the second rotary plate. 
 
     
     
       14. The method of  claim 13 , further comprising:
 determining, via the controller, that a cleaning cloth is not installed on the first rotary plate or the second rotary plate when there is no change in the calculated location of the main body for a predetermined period of time; and 
 determining, via the controller, that a cleaning cloth is not installed on the first rotary plate or the second rotary plate based on a rotation angle of the mobile robot. 
 
     
     
       15. The method of  claim 14 , further comprising:
 determining, via the controller, that the second cleaning cloth is not installed on the second rotary plate when the main body rotates in a first direction by a rotation angle; and 
 determining, via the controller, that the first cleaning cloth is not installed on the first rotary plate when the main body rotates in a second direction opposite the first direction. 
 
     
     
       16. The method of  claim 13 , further comprising:
 determining, via the controller, that there is an abnormality in the moving of the main body when the calculated location of the main body is repeated according to a predetermined pattern, wherein the location of the main body is calculated based on coordinates that represent a distance of movement of the mobile robot on X axis and Y axis from a start point and a rotation angle. 
 
     
     
       17. The method of  claim 16 , further comprising:
 reattempting moving of the main body after waiting for a predetermined period of time when it is determined that there is an abnormality in the moving of the main body; and 
 determining, via the controller, that a temporary error has occurred when the main body moves normally after the reattempting. 
 
     
     
       18. The method of  claim 13 , further comprising:
 stopping rotation of the first rotary plate and the second rotary plate when it is determined that a cleaning cloth is not installed on the first rotary plate or the second rotary plate. 
 
     
     
       19. The method of  claim 13 , further comprising:
 detecting an obstacle in a direction of movement of the mobile robot; and 
 performing an action in response to the detection of the obstacle. 
 
     
     
       20. The method of  claim 13 , further comprising:
 detecting, via the controller, a current of a motor that rotates the first rotary plate and the second rotary plate; and 
 determining, via the controller, a traveling state of the mobile robot for no load or restraint in response to the detected current of the motor.